A friction model was established for impulse control design in a precision control system. First, the physical characteristics of the impulse in momentum, such as motion and energy, were analyzed and formulated. Then,...A friction model was established for impulse control design in a precision control system. First, the physical characteristics of the impulse in momentum, such as motion and energy, were analyzed and formulated. Then, experimental response to a new pulse with two harmonic expansions was studied. The first harmonic is the main pulse to drive the arm, and the second harmonic has two functions： its first half helps the main pulse eliminate the dead zone, and its second half, a negative pulse, stops the arm motion quickly. Finally, an impulse feedback controller was developed. Comparison between simulation and experiments shows the effectiveness of the proposed controller.展开更多
In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compe...In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.展开更多
This paper is dealing with a comparative analysis, from technical point of view of the solutions with the highest potentiality utilized in sonar heads drives. Even though the use of DC servomotors is a convenient solu...This paper is dealing with a comparative analysis, from technical point of view of the solutions with the highest potentiality utilized in sonar heads drives. Even though the use of DC servomotors is a convenient solution for most customers, from some modem analysis criteria points of view, this type of drive system has a low reliability and a greater impact on the environment, compared to AC servomotors. From this class of AC servomotors, high behaviors, in such an application, have stepper motors and electronically commutated motor （brushless DC）. That is why, analysis in this paper, balances these two classes of AC servomotors. The systems performed are analyzed in Matlab/Simulink and PowerSim environments.展开更多
A．Switch-Redundant Topology An early attempt to add fault tolerant capacity to a standard three-phase inverter topology for induction motors was presented．This topology will be referred to as the switch-redundant t...A．Switch-Redundant Topology An early attempt to add fault tolerant capacity to a standard three-phase inverter topology for induction motors was presented．This topology will be referred to as the switch-redundant topology and is shown in Fig.5．This topology incorporates four TRIACs or back-to-back connected SCRs and three fast acting fuses．The fuses are connected in series with the load phases．Since this topology is a combination of topologies and control methods to accommodate an opened phase，and a shorted switch，they will be considered separately．展开更多
A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage ...A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.展开更多
电力电子的应用要求功率变换器具有更小的体积、更高的功率密度以及更好的动态性能,这一要求使得高频化成为电力电子发展的必然趋势。结合国内外研究现状,对超高频VHF(very high frequency)(30~300MHz)DC-DC谐振变换器的主电路拓扑、谐...电力电子的应用要求功率变换器具有更小的体积、更高的功率密度以及更好的动态性能,这一要求使得高频化成为电力电子发展的必然趋势。结合国内外研究现状,对超高频VHF(very high frequency)(30~300MHz)DC-DC谐振变换器的主电路拓扑、谐振驱动电路、控制方法分别进行了介绍。展开更多
In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular sta...In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.展开更多
基金The Foundation of Sichuan Education Department (No.09ZC24)
文摘A friction model was established for impulse control design in a precision control system. First, the physical characteristics of the impulse in momentum, such as motion and energy, were analyzed and formulated. Then, experimental response to a new pulse with two harmonic expansions was studied. The first harmonic is the main pulse to drive the arm, and the second harmonic has two functions： its first half helps the main pulse eliminate the dead zone, and its second half, a negative pulse, stops the arm motion quickly. Finally, an impulse feedback controller was developed. Comparison between simulation and experiments shows the effectiveness of the proposed controller.
基金The National Natural Science Foundation of China(No.60675045)the National High Technology Research and Development Program of China (863Program) (No.2006AA04Z255)
文摘In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.
文摘This paper is dealing with a comparative analysis, from technical point of view of the solutions with the highest potentiality utilized in sonar heads drives. Even though the use of DC servomotors is a convenient solution for most customers, from some modem analysis criteria points of view, this type of drive system has a low reliability and a greater impact on the environment, compared to AC servomotors. From this class of AC servomotors, high behaviors, in such an application, have stepper motors and electronically commutated motor （brushless DC）. That is why, analysis in this paper, balances these two classes of AC servomotors. The systems performed are analyzed in Matlab/Simulink and PowerSim environments.
文摘A．Switch-Redundant Topology An early attempt to add fault tolerant capacity to a standard three-phase inverter topology for induction motors was presented．This topology will be referred to as the switch-redundant topology and is shown in Fig.5．This topology incorporates four TRIACs or back-to-back connected SCRs and three fast acting fuses．The fuses are connected in series with the load phases．Since this topology is a combination of topologies and control methods to accommodate an opened phase，and a shorted switch，they will be considered separately．
基金Supported by the National Natural Science Foundation of China(Grant No.50705027)the National High Technology Research and Development Program of China("863"Program)(Grant No.2007AA04Z315)Self-Planned Task of State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS200804B)
文摘A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.
基金Project(51107111)supported by the National Natural Science Foundation of China
文摘In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.
